산업용 로보트의 카르테시안 직선 운동을 위한 조인트-궤적의 최소 시간화

On Minimum Time Joint-Trajectory Planning for the Cartesian Straight Line Motion of Industrial Robot

Approximation of a Cartesian straight line motion with linear interpolation in the joint space has many desirable advantages and applications. But inappropriate determination of the corresponding subtravelling and transition times makes such joint-trajectories violate the input torque/force constraints. An approach that can overcome this difficult and yield the joint trajectories utilizing the allowable maximum input torque/force is established in this paper. The effectiveness of these results is demonstrated by using a three-joint revolute manipulator.